implement JSON to C++ header dump tool

tools/odrive/discovery.py

@@ -53,7 +53,7 @@ def find_all(path, serial_number,
             except UnicodeDecodeError:
                 printer("device responded on endpoint 0 with something that is not ASCII")
                 return
-            printer("JSON: " + json_string)
+            printer("JSON: " + json_string.replace('{"name"', '\n{"name"'))
             printer("JSON checksum: 0x{:02X} 0x{:02X}".format(json_crc16 & 0xff, (json_crc16 >> 8) & 0xff))
             try:
                 json_data = json.loads(json_string)
@@ -62,6 +62,10 @@ def find_all(path, serial_number,
                 return
             json_data = {"name": "odrive", "members": json_data}
             obj = odrive.remote_object.RemoteObject(json_data, None, channel, printer)
+
+            obj.__dict__['_json_data'] = json_data['members']
+            obj.__dict__['_json_crc'] = json_crc16
+
             device_serial_number = format(obj.serial_number, 'x').upper() if hasattr(obj, 'serial_number') else "[unknown serial number]"
             if serial_number != None and device_serial_number != serial_number:
                 printer("Ignoring device with serial number {}".format(device_serial_number))

tools/odrive/template_processor.py

@@ -0,0 +1,49 @@
+
+import jinja2
+import os
+import json
+
+def get_flat_endpoint_list(json, prefix):
+    flat_list = []
+    for item in json:
+        item = item.copy()
+        if 'type' in item:
+            if item['type'] in {'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64'}:
+                item['type'] += '_t'
+                is_property = True
+            elif item['type'] in {'bool', 'float'}:
+                is_property = True
+            else:
+                is_property = False
+            if is_property:
+                item['name'] = prefix + item['name']
+                flat_list.append(item)
+        if 'members' in item:
+            flat_list = flat_list + get_flat_endpoint_list(item['members'], prefix + item['name'] + '.')
+    return flat_list
+
+def generate_header(odrv, template_file, output_file):
+    json_data = odrv._json_data
+    json_crc = odrv._json_crc
+
+    endpoints = get_flat_endpoint_list(json_data, '')
+
+    env = jinja2.Environment(
+        #loader = jinja2.FileSystemLoader("/Data/Projects/")
+        #trim_blocks=True,
+        #lstrip_blocks=True
+    )
+
+    # Expose helper functions to jinja template code
+    #env.filters["delimit"] = camel_case_to_words
+
+    # Load and render template
+    template = env.from_string(template_file.read())
+    output = template.render(
+        json_crc=json_crc,
+        endpoints=endpoints,
+        output_name=os.path.basename(output_file.name)
+    )
+
+    # Output
+    output_file.write(output)

tools/odrive_header_template.h.in

@@ -0,0 +1,34 @@
+/*
+* This file was autogenerated using the "odrivetool process-template" feature.
+*
+* The file matches a specific firmware version. If you add/remove/rename any
+* properties exposed by the ODrive, this file needs to be regenerated, otherwise
+* the ODrive will ignore all commands.
+*/
+
+#ifndef __ODRIVE_ENDPOINTS_HPP
+#define __ODRIVE_ENDPOINTS_HPP
+{% macro enum_name(endpoint) %}{{ endpoint.name | replace('.', '__') | upper }}{% endmacro %}
+
+namespace odrive {
+    
+static constexpr const uint16_t json_crc = 0x{{ "%0x" | format(json_crc) }};
+
+enum { {% for endpoint in endpoints %}
+  {{enum_name(endpoint)}} = {{endpoint.id}},
+{%- endfor %}
+};
+
+template<int I>
+struct endpoint_type;
+
+{% for endpoint in endpoints -%}
+template<> struct endpoint_type<{{enum_name(endpoint)}}> { typedef {{endpoint.type}} type; };
+{% endfor %}
+
+template<int I>
+using endpoint_type_t = typename endpoint_type<I>::type;
+
+}
+
+#endif __ODRIVE_ENDPOINTS_HPP

tools/odrivetool

@@ -6,6 +6,7 @@ ODrive command line utility
 from __future__ import print_function
 import sys
 import argparse
+import os
 import odrive.discovery
 from odrive.utils import Logger, Event
 
@@ -19,6 +20,7 @@ def print(*args, **kwargs):
     file = kwargs.get('file', sys.stdout)
     file.flush() if file is not None else sys.stdout.flush()
 
+script_path=os.path.dirname(os.path.realpath(__file__))
 
 ## Parse arguments ##
 parser = argparse.ArgumentParser(description='ODrive command line utility\n'
@@ -36,6 +38,13 @@ shell_parser.add_argument("--no-ipython", action="store_true",
 dfu_parser = subparsers.add_parser('dfu', help="Upgrade the ODrive device firmware")
 dfu_parser.add_argument('file', metavar='HEX', help='The .hex file to be flashed. Make sure your firmware board version matches the actual board version.')
 
+template_processor_parser = subparsers.add_parser('process-template', help="Process a jinja2 template, passing the ODrive's JSON data as data input")
+template_processor_parser.add_argument("-t", "--template", type=argparse.FileType('r'),
+                    help="the code template")
+template_processor_parser.add_argument("-o", "--output", type=argparse.FileType('w'), default='-',
+                    help="path of the generated output")
+template_processor_parser.set_defaults(template = os.path.join(script_path, 'odrive_header_template.h.in'))
+
 subparsers.add_parser('liveplotter', help="Upgrade the ODrive's Firmware")
 subparsers.add_parser('drv-status', help="Show status of the on-board DRV8301 chips (for debugging only)")
 subparsers.add_parser('rate-test', help="Estimate the average transmission bandwidth over USB")
@@ -138,6 +147,11 @@ try:
     elif args.command == 'udev-setup':
         from odrive.utils import setup_udev_rules
         setup_udev_rules(logger)
+    
+    elif args.command == 'process-template':
+        from odrive.template_processor import generate_header
+        my_odrive = odrive.discovery.find_any(path=args.path, serial_number=args.serial_number)
+        generate_header(my_odrive, args.template, args.output)
 
     else:
         raise Exception("unknown command: " + args.command)